Tree trunk shaker

ABSTRACT

A vehicle-carried Tree-Trunk Shaker (TTS) for harvesting tree fruit is configured to prevent the transmission of vibrations from a vibration generator ( 4 ) to the TTS and to the vehicle, and for optimal shaking efficiently. Currently, TTSs are allowed to shake multi-directionally and chaotically, convey destructive vibrations to the TTS and to the vehicle, and have low harvesting efficiency. The remedy consists of shaking the trunk only in perpendicular to a pair of jaws ( 6, 8 ) clamping the trunk (T), with a unidirectional linear vibration generator vibrating transversally to the trunk. A beam ( 16 ) is configured to support the clamping jaws and the vibration generator to form a rigid structure restricted to swivel about a vertical pivot shaft ( 42 ) coupled to the vehicle. Thereby there is allowed but a single lateral degree of freedom of motion. Possibly, two vertical pivot hafts ( 42, 48 ) are used to that end.

TECHNICAL FIELD

[0001] The present invention relates in general to agriculturalvehicle-carried tree-trunk shakers for harvesting tree fruit, and inparticular to the constraining of the degrees of freedom of motion oftheir mechanism.

BACKGROUND ART

[0002] Tree Trunk Shakers (TTS) per se, are well known to the art. Theyconsist usually of a vibration-generating element, a pair of jaws toclutch the trunk of a tree, and a supporting arm configured to extendthe pair of jaws from a vehicle to the tree. The mechanism of theTree-Trunk Shaker (TTS) permits the positioning and locking of the jawson the tree-trunk, and allows the vibration generating element to imposea multi-directional regime of vibrations to the tree. However, since theshaking generated by, the vibration generator is violent andmultidirectional, chains and resilient coupling elements are preferablyused for connection of the vibration generator to allow movement in allpossible directions, thus in all possible degrees of freedom of motion.Evidently, chains provide freedom of motion, even allowing the shaker tobe thrown about chaotically. As a result, vibrations are generated inall directions, transmitted, and imparted to the vehicle, with all thedetrimental effects on the TTS, on the vehicle and on the driver.

[0003] Unwanted vibrations are sometimes accepted as a price to payagainst a desired superior result, but in the present case, theefficiency of the TTS is low. Obviously, TTS manufacturers strive toachieve improved tree-fruit harvesting yields, meaning shorter time oftree shaking and greater percentage of harvested fruit.

[0004] In U.S. Pat. No. 4,128,986, Santarelli describes a shakersuspended by chains as by column 3, lines 52 to 53: “. . . fixing point3 for chains 4 by means of which the vibrating device 1 may be lifted bya tractor 4′, . . . ”. FIG. 1 illustrates the vibrating device ashanging on three separate chains 4 from a supporting arm 5. This mode ofsuspension is needed since Satarelli wants to, by column 4, lines 66 to68 “. . . obtain vibrations the frequency of which is variable duringoperation substantially through an arc of 360°.” Santarelli believesthat multidirectional vibrations are necessary for a TTS, although theharvesting results are poor.

[0005] U.S. Pat. No. 4,223,515, invented by Borchard, discloses a “Treeshaker mounting” where the shaker 10 is suspended by a chain 30 and by arubber block 41, as described in column 2 lines 33 to 34 “ . . .suspended from it is the shaker 30 and a rubber block 41, . . . ”.Borchard too prefers multidirectional shaking, in spite of the inferiorharvesting results.

[0006] U.S. Pat. No. 4,320,618, by Dandl, deals with, as by thetitle ofthe Patent, a “Tree shaker attachment for vehicles” that is“interconnected with the fixed base member 16 by flexible chains 40 inorder to better support the tree shaking attachment to the tractor” asin column 3, lines 24 to 26. Dandl is also of the view that, column 1lines 24 to 27: “ . . . the unidirectional mode of vibration wasgenerally inefficient because of the need for causing relatively violentshaking of the tree.” Therefore, Dandi selects multi-directionalshaking, as by column 1 lines 36 to 38 “ . . . for generating a highfrequency pulsation, the direction of which changes continuously throughan angle of 360° arc, . . . ”. In spite of his efforts, Dandl does notimprove harvesting efficiency.

[0007] The background art thus professes multidirectional shaking and afreely suspended vibrator as the preferred method of operations for aTTS, even though the harvesting results are far from satisfactory.

[0008] There is thus a need for a TTS configured to ascertain optimalresults for the fruit-harvesting mission but without impartingvibrations and/or shocks to the harvesting equipment and to the vehicle.Furthermore, there is also a need for the control of the vibrationregime to provide not only efficient tree shaking but also overallorchard harvesting performance. In simple words, there is needed anefficient TTS machinery of rigid and robust construction, for deliveringshaking vibrations to the tree while isolating the TTS and the vehiclefrom both shocks and vibrations

SUMMARY

[0009] It is an object of the present invention to provide a method forthe unidirectional lateral and orderly shaking a tree with a Tree-TrunkShaker (TTS) coupled to a vehicle and constrained to a single lateralpivotal degree of freedom of motion for optimal harvesting results andfor prevention of shaking vibration harm to the TTS, to the vehicle andto the driver.

[0010] Another object of the invention is to implement the method for anautonomous tree trunk shaker TTS for the harvesting of tree-fruit by thevibrational shaking of the trunk, wherein the TTS is mounted on avehicle and does neither transmit vibrations to the vehicle nor damageto the bark of the tree.

[0011] Still another object of the invention is to implement the methodfor tree-fruit harvesting systems comprising a TTS, a vehicle, fruitgathering means, and possibly conveyor means and a harvest-gatheringcontainer.

[0012] It is another object of the invention to provide a TTS achievinga maximal tree-fruit harvest in a minimum of time.

[0013] One object of the invention is to provide a method forconstraining and coupling a TTS to a vehicle, the TTS comprisingtree-trunk jaws clamping the trunk perpendicularly, and a linearvibration generator coupled to the tree-trunk jaws for shaking thetrunk. The method is characterized by comprising the steps ofconfiguring the TTS to shake the trunk laterally in perpendicular toboth the trunk and to the tree-trunk jaws, and constraining the TTS toshake the trunk in one single lateral degree of freedom of motion inoperative association with at least one vertical pivot coupling the TTSto the vehicle. As a further step, the tree-trunk jaws clampdiametrically opposite sides of the trunk and the linear vibrationgenerator is configured as an integral part of the tree-trunk jaws toform a rigid front portion.

[0014] According to the invention, there is provided a method thatfurther comprises a linking portion rigid and in longitudinalcoextension with the tree-trunk jaws, the linking portion comprising afront end and rear end, front and rear being defined as, respectively,the side nearer the trunk and the side nearer the vehicle. The front endis rigidly coupled to the front portion, and a coupling portioncomprising a front attachment and a rear attachment, the frontattachment being coupled to the rear end of the linking portion and therear attachment being fixedly coupled to the vehicle. The method beingfurther characterized by comprising the step of constraining the linkingportion pivotally to the coupling portion by at least one vertical pivotdefining a single lateral pivotal degree of freedom of motion inperpendicular to the trunk and to the tree-trunk jaws.

[0015] Yet another object of the invention is to provide a method forconstraining and coupling a TTS to a vehicle, the TTS comprisingtree-trunk jaws clamping a trunk perpendicularly on diametricallyopposite sides, and a linear vibration generator for shaking the trunkand integrated with one tree-trunk jaw into a rigid front portion. Thereis also a linking portion in longitudinal coextension with thetree-trunk jaws, the linking portion comprising a front end and rear endrigidly coupled to the front portion, front and rear being defined as,respectively, the side nearer the trunk and the side nearer the vehicle.The front end is rigidly coupled to the front portion, and a couplingportion comprising a front attachment and a rear attachment, the frontattachment being coupled to the rear end of the linking portion and therear attachment being fixedly attached to the vehicle via a structureportion. The method is characterized by the steps of configuring the TTSfor shaking the trunk laterally in perpendicular to the trunk and to thetree-trunk jaws so as to transmit lateral vibrations to the trunk and tothe linking portion. Thereby, the coupling portion is constrained to thelinking portion by at least one vertical pivot for associative operationwhen shaking the trunk. In a further step, the vertical pivot couplingdefines a single lateral pivotal degree of freedom of motion therebyproviding maximal vibration energy to the trunk by coupling the TTS tothe vehicle via the structure. It is noted that the at least onevertical pivot isolates the vehicle from vibrations generated by thelinear vibration generator.

[0016] One more object of the invention comprises providing a methodwith a linking portion, rigid and in longitudinal coextension with thetree-trunk jaws, the linking portion comprising a front end and rearend, front and rear being defined as, respectively, the side nearer theand the side nearer the vehicle. The method also includes a couplingportion comprising a front attachment and a rear attachment, the frontattachment being coupled to the rear end of the linking portion and therear attachment being fixedly attached to the vehicle. The method isfurther characterized by comprising the steps of coupling the frontportion to the front end of the linking portion by a first verticalpivot coupling, and coupling the rear end of the linking portion to thefront attachment of the coupling portion by a second vertical pivotcoupling. The TTS is thereby constrained to a single lateral degree offreedom of motion about a first and a second vertical pivot.

[0017] As another object of the invention, there is provided a methodfor constraining a TTS to a vehicle, the TTS comprising tree-trunk jawsclamping a trunk perpendicularly on diametrically opposite sides, alinear vibration generator for shaking the trunk and integrated with atleast one tree-trunk jaw into a rigid front portion. The TTS alsocomprises a linking portion, rigid and in longitudinal coextension withthe tree-trunk jaws, the linking portion comprising a front end and rearend, front and rear being defined as, respectively, the side nearer thetrunk and the side nearer the vehicle. The TTS further comprises acoupling portion comprising a front attachment and a rear attachment,the front attachment being coupled to the rear end of the linkingportion and the rear attachment being fixedly coupled to the vehicle viaa structure portion, and defining a lateral direction as beingorthogonal to the trunk and to the tree-trunk jaws. The method ischaracterized by the steps of configuring the TTS for shaking the trunklaterally so as to transmit vibrations laterally and in perpendicular tothe linking portion, and constraining the front portion by a firstvertical pivotal coupling to the front end of the linking portion.Furthermore, the method comprises the step of constraining the rear endof the linking portion by a second vertical pivotal coupling to thefront end of the coupling portion. Thereby, there is defined a singledegree of lateral freedom of motion about two vertical pivots, forproviding maximal vibration energy to the trunk by coupling the TTS tothe vehicle via the structure. The method is also characterized byisolating the vehicle from vibrations generated by the linear vibrationgenerator by operative association with the first vertical pivot and thesecond vertical pivot.

[0018] It is a further object of the invention to provide a TTS coupledto a vehicle and comprising tree-trunk jaws clamping the trunkperpendicularly, and a linear vibration generator coupled to thetree-trunk jaws for shaking the trunk. The TTS is characterized by beingconfigured to shake the trunk laterally in perpendicular to both thetrunk and to the tree-trunk jaws, and constrained to shake in one singlelateral degree of freedom of motion in operative association with atleast one vertical pivot coupling the TTS to the vehicle. In the TTS,the tree-trunk jaws are clamping diametrically opposite sides of thetrunk, and the linear vibration generator is configured as an integralpart of the tree-trunk jaws to form a rigid front portion.

[0019] One other object of the invention is to provide a TTS furthercomprising a linking portion, rigid and in longitudinal coextension withthe tree-trunk jaws, the linking portion comprising a front end and rearend, front and rear being defined as, respectively, the side nearer thetree-trunk and the side nearer the vehicle. The front end is rigidlycoupled to the front portion and a coupling portion comprising a frontattachment and a rear attachment, the front attachment being coupled tothe rear end of the linking portion and the rear attachment beingfixedly coupled to the vehicle. The TTS is further characterized bycomprising at least one vertical pivot defining a single lateral pivotaldegree of freedom of motion in perpendicular to the trunk and to thetree-trunk jaws, the vertical pivot constraining the linking portionpivotally to the coupling portion.

[0020] Still another object of the invention is to provide a TTS coupledto a vehicle and comprising tree-trunk jaws clamping a trunkperpendicularly on diametrically opposite sides, a linear vibrationgenerator integrated with at least one tree-trunk jaw into a rigid frontportion, a linking portion in longitudinal coextension with thetree-trunk jaws, the linking portion comprising a front end and rear endrigidly coupled to the front portion, front and rear being defined as,respectively, the side nearer the tree-trunk and the side nearer thevehicle, the front end being rigidly coupled to the front portion and acoupling portion comprising a front attachment and a rear attachment,the front attachment being coupled to the rear end of the linkingportion and the rear attachment being fixedly attached to the vehiclevia a structure portion. The TTS is characterized by the linearvibration generator being configured for shaking the trunk laterally inperpendicular to the trunk and to the tree-trunk jaws, so as to transmitlateral vibrations to the trunk and to the linking portion. The TTS isfurther characterized by the coupling portion being constrained to thelinking portion by at least one vertical pivot for associative operationwhen shaking the trunk, the vertical pivot coupling defining a singlelateral pivotal degree of freedom of motion, thereby providing maximalvibration energy to the trunk by coupling the TTS to the vehicle via thestructure. 15. The TTS is further characterized in that the at least onevertical pivot isolates the vehicle from vibrations generated by thelinear vibration generator.

[0021] Still yet one other object of the invention is to provide a TTSthat further comprises a linking portion, rigid and in longitudinalcoextension with the tree-trunk jaws, the linking portion comprising afront end and rear end, front and rear being defined as, respectively,the side nearer the tree-trunk and the side nearer the vehicle. The TTSalso comprises a coupling portion comprising a front attachment and arear attachment, the front attachment being coupled to the rear end ofthe linking portion and the rear attachment being fixedly attached tothe vehicle. The TTS is further characterized in that the front portionis coupled to the front end of the linking portion by a first verticalpivot coupling, and the rear end of the linking portion is coupled tothe front attachment of the coupling portion by a second vertical pivotcoupling. The TTS is thereby constrained to a single lateral degree offreedom of motion about a first and a second vertical pivot.

[0022] Moreover, it is an object of the invention to provide a TTScoupled to a vehicle and comprising tree-trunk jaws clamping a trunkperpendicularly on diametrically opposite sides, a linear vibrationgenerator integrated with at least one tree-trunk jaw into a rigid frontportion, a linking portion, rigid and in longitudinal coextension withthe tree-trunk jaws, the linking portion comprising a front end and rearend, front and rear defined as, respectively, the side nearer the trunkand the side nearer the vehicle, a coupling portion comprising a frontattachment and a rear attachment, the front attachment being coupled tothe rear end of the linking portion and the rear attachment beingfixedly coupled to the vehicle via a structure portion, and a lateraldirection defined as being orthogonal to the trunk and to the tree-trunkjaws. The TTS is characterized by being configured for shaking the trunklaterally so as to transmit the vibrations laterally and inperpendicular to the linking portion, constrained by a first verticalpivotal coupling to the front portion and to the front end of thelinking portion, and constrained by a second vertical pivotal couplingto the rear end of the linking portion and to the front end of thecoupling portion, to define a single degree of lateral freedom of motionabout two vertical pivots, thereby providing maximal vibration energy tothe trunk by coupling the TTS to the vehicle via the structure. The TTSis further characterized in that the first vertical pivot and the secondvertical pivot isolate the vehicle from vibrations generated by thelinear vibration generator.

[0023] Furthermore, it is an object of the invention to provide a systemwith a TTS coupled to a vehicle to harvest tree-fruit, the systemcomprising tree-trunk jaws clamping the trunk perpendicularly, and alinear vibration generator coupled to the tree-trunk jaws and to thevehicle. The system is characterized by the TTS being configured toshake the trunk laterally in perpendicular to both the trunk and to thetree-trunk clamps, and the TTS being constrained to shake in one singlelateral degree of freedom of motion in operative association with onevertical pivot coupling to the TTS to the vehicle. In the system, thetree-trunk jaws are clamping diametrically opposite sides of the trunkand the linear vibration generator is configured as an integral part ofthe at least one tree-trunk jaw to form a rigid front portion.

[0024] It is also an object of the invention to provide a system fortree-fruit harvesting comprising a TTS further comprising a linkingportion, rigid and in longitudinal coextension with the tree-trunk jaws,the linking portion comprising a rear front end and rear end, front andrear being defined as, respectively, the side nearer the tree-trunk andthe side nearer the vehicle, the front end being rigidly coupled to thefront portion, and a coupling portion comprising a front attachment anda rear attachment, the front attachment being coupled to the rear end ofthe linking portion and the rear attachment being fixedly coupled to thevehicle. The system is further characterized by comprising at least onevertical pivot defining a single lateral pivotal degree of freedom ofmotion in perpendicular to the trunk and to the tree-trunk clamps, thevertical pivot constraining the linking portion pivotally to thecoupling portion.

[0025] It is an object of the invention to provide a system fortree-fruit harvesting comprising a TTS further comprising tree-trunkjaws clamping a trunk perpendicularly on diametrically opposite sides, alinear vibration generator integrated with at least one tree-trunk jawinto a rigid front portion, a linking portion in longitudinalcoextension with the tree-trunk jaws, the linking portion comprising afront end and rear end rigidly coupled to the front portion, front andrear being defined as, respectively, the side nearer the trunk and theside nearer the vehicle, and a coupling portion comprising a frontattachment and a rear attachment, the front attachment being coupled tothe rear end of the linking portion and the rear attachment beingfixedly attached to the vehicle via a structure portion. The system ischaracterized by the linear vibration generator being configured forshaking the trunk laterally in perpendicular to the trunk and to thetree-trunk jaws, so as to transmit lateral vibrations to the tree-trunkand to the linking portion, and the coupling portion being constrainedto the linking portion by a vertical pivot for associative operationwhen shaking the trunk, the vertical pivot coupling defining a singlelateral pivotal degree of freedom of motion, thereby providing maximalvibration energy to the trunk by coupling the TTS to the vehicle via thestructure. The system is further characterized in that the at least onevertical pivot isolates the vehicle from vibrations generated by thelinear vibration generator.

[0026] It is another object of the invention to provide a system with aTTS further comprising a linking portion, rigid and in longitudinalcoextension with the tree-trunk jaws, the linking portion comprising afront end and rear end, front and rear being defined as, respectively,the side nearer the tree-trunk and the side nearer the vehicle, and acoupling portion comprising a front attachment and a rear attachment,the front attachment being coupled to the rear end of the linkingportion and the rear attachment being fixedly attached to the vehicle.The system is further characterized in that the front portion is coupledto the front end of the linking portion by a first vertical pivotcoupling, and the rear end of the linking portion is coupled to thefront attachment of the coupling portion by a second vertical pivotcoupling, thereby constraining the TTS to a single lateral degree offreedom of motion about a first and a second vertical pivot.

[0027] It is still another object of the invention to provide a systemfor tree-fruit harvesting comprising a TTS further comprising a TTScoupled to a vehicle, to harvest tree-fruit, the system comprisingtree-trunk jaws clamping a trunk perpendicularly on diametricallyopposite sides, a linear vibration generator integrated with at leastone tree-trunk jaw into a rigid front portion, a linking portion, rigidand in longitudinal coextension with the tree-trunk jaws, the linkingportion comprising a front end and rear end, front and rear defined as,respectively, the side nearer the trunk and the side nearer the vehicle,a coupling portion comprising a front attachment and a rear attachment,the front attachment being coupled to the rear end of the linkingportion and the rear attachment being fixedly coupled to the vehicle viaa structure portion, and a lateral direction defined as being orthogonalto the trunk and to the tree-trunk jaws. The system is characterized bybeing configured for shaking the trunk laterally so as to transmit thevibrations laterally and in perpendicular to the linking portion,constrained to the front portion by a first vertical pivotal coupling atthe front end of the linking portion, and constrained to the rear end ofthe linking portion by a second vertical pivotal coupling to the frontend of the coupling portion, to define a single degree of lateralfreedom of motion about two vertical pivots, thereby providing maximalvibration energy to the trunk by coupling the TTS to the vehicle via thestructure. The system is further characterized in that the firstvertical pivot and the second vertical pivot isolate the vehicle fromvibrations generated by the linear vibration generator.

BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to understand the invention and to see how it may becarried out in practice, preferred embodiments will now be described, byway of non-limiting examples only, with reference to the accompanyingdrawings, in which:

[0029]FIG. 1 is a diagrammatic cross-section of a tree-trunk lockedbetween two clamping jaws,

[0030]FIG. 2 presents a perspective view of a first embodiment, and

[0031]FIG. 3 illustrates a perspective view of a preferred embodiment.

DESCRIPTION OF PREFERRED EMBODIMENTS

[0032] Tree Trunk Shakers (TTS) for tree-fruit harvesting are divided intwo categories: a first category for multidirectional shaking and asecond category for unidirectional or linear shaking.

[0033] It is assumed in the following that the shaking vibrationsgenerator is adjacent to the tree-trunk clamping element and that thelatter consists of two jaws that lock on diametrical opposite sides ofthe tree-trunk.

[0034] The Prior Art prefers multidirectional shaking, believed toachieve better harvest from the tree, and from its remote branches, aswell as offering other favorable effects. This belief neglects the factthat the two clamping jaws lock only on diametrically opposite side ofthe trunk. It must be recognized that practically, all the shakingenergy is transmitted via the jaws to the trunk only when the directionof shaking is perpendicular to both jaws, or in other words, for ashaking direction passing through the diametrically opposite sides ofthe tree-trunk clamped by both jaws.

[0035] Also to be recognized is the fact that when the direction ofshaking is different form the above-mentioned direction of shaking, thenthere is a loss of shaking energy, the maximal loss occurring when thedirection of shaking is parallel to both clamping jaws.

[0036] The term “loss of energy” is meant to express “loss of vibrationenergy imparted to the tree”, in accordance with the principle ofconservation of energy.

[0037]FIG. 1 depicts the relative position of a first jaw J1 and asecond jaw J2 locked on diametrically opposite sides of a tree-trunk TT.Each jaw J1 and J2 has a pad, respectively, P1 and P2, as is commonpractice in the art.

[0038] When the vibrations are oriented along the x-axis in FIG. 1, inperpendicular to the jaws J1 and J2 defined as the lateral direction,then, all the shaking energy is conveyed to the tree-trunk TT. Incontrast, for a vibration orientation in the y-axis direction, definedas the longitudinal direction, in parallel to the jaws J1 and J2 anddefined as the longitudinal direction, the maximum loss of energy isincurred, meaning that minimal shaking energy is transferred to the treein that situation.

[0039] It is noted that the vibration energy that is not transferred tothe trunk is dissipated in friction and in heat. The bark B of thetree-trunk TT suffers erosion and burning damage resulting from thefriction exerted by the pads PI and P2 on the tree-trunk TT.

[0040] Linear vibration generators for tree-trunk shaking are known inthe art, but as mentioned above, they are suspended in a manner to allowmultidirectional freedom of motion of the shaker. Such a free-floatingsuspension does not limit the direction of shaking to a single uniquedirection. Therefore, a freely suspended shaker does not only preventthe exploitation of all the shaking energy but allows the infliction ofdamage to the bark B of the tree-trunk.

[0041] The method disclosed in the present invention mechanicallyconstrains the direction of shaking of a tree-trunk to a single andunique orientation. Advantage is taken of a linear vibration generatorand of a mechanism configured to allow but a single degree of freedom ofmotion to shake the tree-trunk in a lateral direction. The inventionthus controls the shaking regime of the tree-trunk TT, which isconstrained to a particular predefined lateral direction inperpendicular to the tree-clutching jaws, J1 and J2, and to the tree.Reference may be made below to a tree-trunk as a trunk, and totree-trunk jaws as tree-jaws, or trunk-jaws, or jaws for short.

[0042] The method disclosed in the present invention takes advantage ofthe single direction of motion of the shaker by inserting amotion-prevention pivot, to prevent vibrations from propagating to andthrough the TTS to the carrying vehicle. Direct advantages gained arefewer repairs of the TTS and of the vehicle, and a longer equipment lifespan.

[0043] There is thus disclosed a method for shaking a tree laterally,while constraining the TTS to only a lateral degree of freedom ofmotion. The unidirectional and orderly shaking of the trunk, inperpendicular to the jaws 6 and 8 ensures optimal harvesting results,while the lateral motion constraint prevents the newest shakingvibration from harming the TTS, the vehicle and the driver.

[0044] The method is applicable not only to a TTS mounted on a vehicle,but also to tree fruit harvesting systems that include a TTS, a vehicle,falling-fruit gathering means and possibly, conveyor means to harvestgathering containers.

[0045] The benefits offered by the present invention regard the fruitgrowers and the operators of TTS. The growers profit from a moreefficient harvest, meaning that a larger percentage of the fruit growingon the tree is gathered, thus of a greater yield. The trees are notdamaged and the bark remains safe.

[0046] In addition, the harvest of a tree is accelerated and the fruitis sooner on the market. A faster harvest permits to better base thedecision about the harvesting time according to the ripeness and to thejuice contents of the tree-fruit. Quicker harvesting also permits toavoid changing meteorological conditions, permitting to complete fruitgathering before bad weather sets in.

[0047] The TTS operators better employ their equipment, which harvestsfaster, and are able to serve more clients in a shorter time. They alsoderive a longer machine life-span form their equipment, which is betterprotected from harmful machine-incapacitating vibrations.

[0048]FIG. 2 depicts a preferred embodiment 100 of a Tree-Trunk Shaker,TTS, carried by a vehicle. The vehicle is not shown in FIG. 2 for thesake of simplicity. Substantially, the TTS has three longitudinallyaligned portions, namely, a front portion I, a linking portion II whichis an intermediate portion, and a coupling portion III, which is a rearportion. Front refers to the side near the tree-trunk, while rear orback, relates to the side near the vehicle, thus away from thetree-trunk. The front portion I comprises mainly tree trunk-clampingjaws and a linear vibration generator. Portion II, the linking portion,is chiefly an axial, lockable and longitudinal extension and retractionboom. This mainly horizontal boom supports portion I at a first frontend thereof and is coupled, at a second rear end, to the couplingportion III, which is a hinge element. Portion III couples between thelinking portion II and a structure portion IV or structure IV, which isattached to and may be regarded as being part of the vehicle. Thestructure portion IV is possibly configured to carry additionalequipment, besides the TTS, for example a container of liquid, such ashydraulic fluid.

[0049] In relation with a set of orthogonal coordinates having axes x, yand z, as shown in FIG. 2, with the origin at the soil-level and withthe z-axis oriented vertically-up, as if along an imaginary tree-trunk,then the y-axis points towards the longitudinally aligned co-extensiveportions I, II and III. (The tree-trunk is not shown in FIG. 2). Theaxes x, y and z thus define the, respectively, lateral, longitudinal,and vertical directions. The structure IV is a support structurereleasably fixed to the vehicle, which is co-axial and alignedlongitudinally with the TTS, mainly surrounding the portions II and IIIthereof.

[0050] The structure IV supports the boom and is mounted inperpendicular to the direction of motion of the vehicle. Thisconfiguration permits progress of the vehicle in parallel to a row oftrees, to stop opposite a tree chosen to be shaken, extend the boom,clamp to and shake the tree for harvest. After opening the trunkclamping jaws, and retracting the boom, the vehicle moves to the nexttree.

[0051] In FIG. 2, the front portion I comprises mainly clamping jaws 2and a linear vibration generator 4 forming the rigid front portion. Thetree-trunk clamping jaws 2 include a first jaw 6, a second jaw 8, and ajaws' support 10. A couple of jaw jacks 12 close and open the jaws 6 and8 which swivel relative to the jaws' support 10 in parallel,substantially, to the horizontal plane defined by the axes x and y, thusin parallel to the ground. This accommodation easily allows the clampingjaws 6 and 8, each one lined with a pad 14, to clamp the diametricallyopposite sides of a trunk.

[0052] The linear vibration generator 4 is fixedly attached adjacent,for example, to the first jaw 6. In fact, the linear vibration generator4 is integrated inside a jaw, say the first jaw 6, and resides thereforealso in the plane of the pair of jaws 6 and 8. The linear vibrationgenerator 4 inside clamp 6 is thus almost in close contact to impartvibrations directly to the clamped tree-trunk.

[0053] For shaking, the linear vibration generator 4 is selected tooperate linearly, at a predetermined frequency, and only in the lateraldirection of the x-axis, thus in perpendicular to the longitudinallyco-extensive portions 1, II and III. An example of a linear vibrationgenerator is disclosed in the International PCT Application No. PCT/IL00/00716, by the present applicants, and is incorporated herewith inwhole by reference.

[0054] The linking portion II comprises the elements required forsuitably extending the front portion I, with the clamping jaws 2,towards and away from the tree-trunk. In operation, the vehicle is firstadequately positioned at appropriate distance and orientation oppositethe trunk to be shaken. Then, to clamp the tree-trunk, the jaws 6 and 8are first opened by the pair of jaw jacks 12. Next, the clamping jaws 2are extended towards the tree trunk, substantially in parallel to theground, with each one of the jaws 6 and 8 in position on diametricallyopposite sides of the tree-trunk. Last, the height of the clamping jaws2 is adjusted vertically and the jaws 6 and 8 are locked tight on thetree-trunk

[0055] Still referring to FIG. 2, a telescoping boom 16, or boom 16, isshown aligned horizontally in the longitudinal direction of the y-axis.The boom 16 includes an external static member 18 and an internalextensible member 20 that may be extended and retracted by help of aboom jack 22 mounted in parallel to the extensible member 20. The freeend 20F of the extensible member 20 is solidly fastened to the jaws'support 10, while the rear end 18R of the static member 18 is retainedby the coupling portion III.

[0056] With reference to FIG. 2, the telescopic boom 16 is shown in theretracted position, and so is the boom jack 22. When the boom jack 22 isoperated to extend, by means not shown in FIG. 2, the extensible member20 is extracted to translate outwardly and away from the free end 18F ofthe static member 18. The front portion I thus extends generallyhorizontally, in the longitudinal direction of the y-axis, towards avertical tree-trunk (not shown in FIG. 2). After being adequatelyextended, the height of the clamping jaws 2 may be adjusted along thetree-trunk.

[0057] Once the clamping jaws 2 are clamped on the tree-trunk, the boom16 is locked so that the extensible member 20 is also locked relativelyto the static member 18. When locked, the boom 16 forms a rigid membertogether with the front portion I. The portions I and II thus become onesolid structure. It is emphasized that when locked, the clamping jaws 2are solidary with the boom 16 and may move only together therewith.

[0058] For the purpose of vertical height adjustment, the rear end 18Rof the static member 18 of the boom 16 is coupled to the couplingportion III, which is retained by a horizontal pivot parallel to thelateral x-axis, thus perpendicular to the boom, providing a hingedconnection or pivot for the boom, relative to the structure portion IV.The clamping jaws 2, fixedly attached to the free end 20F of theextensible member 20, are thus free to swivel up and down in a y-zplane, hence along the height of a tree-trunk.

[0059] To raise and lower the boom 16 during height adjustment, use ismade of a chain, or preferably of a pair of chains 24, as lifting andlowering means. It is appreciated that for the sake of stability of theboom 16, it is preferable for the chains 24 not to hang in parallel toeach other.

[0060] The pair of chains 24 have a lower end 24L thereof attached toears 26 extending horizontally sideways and away in perpendicular toboth opposite sides of the static member 18, of which only one side isseen in FIG. 2. The ears 26 are located nearer to the front-end 18F ofthe static member 18, closer to the tree-trunk clamping jaws 2. Theupper end 24U of the pair of vertical height-adjusting chains 24 isattached to the free end 28F of a couple of parallel levers 28 pivotingtogether with a cross-member shaft 30 located higher above the beam 16and pivotally retained by two parallel vertical side-beams 32 that arepart of the structure IV. A height-positioning jack 34 raises or lowersthe free ends 28F of the levers 28, thus acting on the chains 24 tovertically adjust the height of the extensible boom 16 to above or belowthe horizontal plane x-y. Thereby, the front portion I is accordingly,vertically risen or lowered above the ground.

[0061] To permit motion of the front portion I and of the linkingportion II in the vertical direction of the z-axis, the retained rearend 18R of the beam 16 is pivotally coupled to the coupling portion III,relative to the structure IV. For this purpose, a bracket 36 is hingedor pivoted, at the rear 36R, around a horizontal pivot shaft 38 that isfixedly retained between two parallel spaced apart vertical rearside-beams 40 of the structure IV. The horizontal pivot shaft 38 is thusaligned laterally, in parallel to the x-axis, in perpendicular to theboom 16, to permit a single degree of freedom of pivotal motion,operated by the height-positioning jack 34, to translate the frontportion I vertically along the direction of the z-axis.

[0062] In operation, the TTS and the carrying vehicle follow a sequenceof phases for tree fruit harvesting. There is first an approach phase,wherein the TTS-carrying vehicle approaches a tree-trunk and parksopposite a tree in a manner adequate to enable the TTS to shake thetree-trunk. Next comes the positioning phase 2, or the second phase, inwhich the linking portion III is extended and the clamping jaws 2 arepositioned and clamped on the tree-trunk. Now comes the shaking phase,or third phase, necessary for the harvesting of the tree, by shaking thetrunk thereof. Once the harvesting is accomplished, then the departurephase, or fourth phase, is executed by opening the clamped jaws 6 and 8,retracting the boom 16, and letting the vehicle depart towards anothertree.

[0063] There are thus different mechanisms of motion involved in thefour sequential phases of tree-fruit harvesting. In the first approachphase, only the latitude of maneuver of the vehicle in the field isinvolved, without any motion demand being imposed on the TTS.

[0064] During the positioning and in the shaking phases, namely thesecond and third phases, the vehicle is at halt and it is only the TTSthat imparts the motions required to extend the boom 16, clutch andshake the tree-trunk. For the departure or fourth phase, it is first theTTS that is put in motion by unclutching the trunk and retracting theboom 16, and second, the vehicle, which moves to depart. Thus, justbefore the shaking phase, the clamping jaws 2 are locked on the treetrunk and the shaking of that trunk for harvesting may begin.

[0065] The linear vibration generator 4 is now operated to produceunidirectional lateral vibrations in the direction of the x-axis, inperpendicular to the jaws 6 and 8, to the tree-trunk and to the extendedboom 16. The amplitude of those vibrations cause the front portion I totranslate only laterally in the x-y plane, in parallel to the ground,and to transmit lateral vibrations to the boom 16. To prevent thetransmission of shocks and of vibrations, especially lateral vibrations,and the transmission of movement to the vehicle, there is provided onlya single degree of freedom of motion about a vertical pivot shaft 42.That pivot shaft 42 is fixedly fastened at the rear end 18R of thestatic member 18, to form a hinge with the bracket 36, at the front 36Fof that bracket, in the coupling portion III.

[0066] The coupling portion III is configured with a couple ofperpendicular pivots 38 and 42, operating as a double hinge for pivotalmovement constrained to two perpendicular directions. First, thevertical pivot shaft 42 hinges the rear of the static member 18R to thefront 36F of the bracket 36, to permit a lateral degree of freedom ofmotion about a vertical axis. This constraint to a single lateral degreeof freedom of pivotal motion agrees with the lateral translationmovements of the front portion I, in parallel to the x-y plane, or tothe ground, in perpendicular to the tree-trunk and to the longitudinallyaligned portions I, II, and III of the TTS. Second, the horizontal pivotshaft 38, at the rear 36R of the bracket 36, hinges both integralportions I and II, namely the front portion I and the linking portion IIto the structure IV, to allow a vertical degree of positioningadjustment motion. This single lateral degree of pivotal freedom ofvertical motion evidently agrees with the translational movementsrequired for positioning the front portion I along to the tree-trunk.The bracket 36 thus allows pivotal motion about two orthogonal axesrepresented by the pivots 38 and 42.

[0067] It is pointed out that pivoting about the horizontal shaft 38 isindependent and decoupled from pivoting about the vertical pivot shaft42. During the positioning phase, the TTS takes advantage of thehorizontal pivot shaft 38. In contrast, in the shaking phase, whentree-shaking for harvesting, the TTS uses the vertical pivot shaft 42 toprovide but one single lateral degree of freedom of pivotal motion,necessary to prevent the transmission of vibrations and of movement fromthe boom 16 to the vehicle. In the shaking phase, the front portion Iand the linking portion II behave as one solid structure: the frontportion is clamped on the trunk and rigidly coupled to the portion II,itself pivotable only laterally about the pivotal coupling 42. Motionabout the horizontal pivot 38 is not possible.

[0068] It is noted that during shaking, the structure portion IV has butone task, which is to attach the coupling portion to the vehicle in onelateral direction of freedom of motion. Three parallel mounting struts44, which are part of the support structure IV, are configured forreleasable fastening to the rear of an agricultural vehicle, such as atractor. The axis of motion of the vehicle is at right angle to theco-extensive portions I, II and III of the TTS.

[0069] In conclusion, during the shaking phase, the linear vibrationgenerator 4 vibrates laterally and transmits lateral vibrations to thefront portion I and to the linking portion II rigidly integraltherewith. The coupling portion III pivotally constrains the portions Iand II in a single pivotal degree of freedom of motion to the structureportion IV fixed to the vehicle. The TTS is thus constrained to orderlyvibrate in the lateral direction, in perpendicular to the jaws 6 and 8and to the boom 16 for maximum shaking efficiency, for prevention ofbark erosion and for isolation of the vehicle from shocks andvibrations.

[0070] A second TTS embodiment 200 is illustrated in FIG. 3, where thesame numerals are used to designate similar elements. The maindifference, in comparison to the embodiment 100, relates to the jaws'support 10 and to the coupling thereof to the free end 20F of theextensible member 20 of the boom 16. In the embodiment 200, the frontportion I is pivotally coupled by a front portion vertical pivot 46 tothe free end 20F. The front portion vertical pivot 46 is possibly alsothe common pivot for each one of the clamping jaws 6 and 8, or aseparate pivot for the front portion I. When the jaw jacks 12 fullyextend, the open jaws 6 and 8 are blocked against the jaws' support 10that is thereby prevented from swiveling about the front portionvertical pivot 46 during the positioning phase. However, the lateralpivoting degree of freedom of motion of portion I, relative to portionII, is operative in the shaking phase.

[0071] The TTS 200 has thus two parallel vertical pivots that allowlateral swiveling during the shaking phase, namely the vertical pivotshaft 42 of the coupling portion III and the front portion verticalpivot 46. The degrees of freedom of motion in the positioning phaseremain the same as with the embodiment 100, but the shaking phase nowfeatures two parallel vertical pivots. The front portion vertical pivot46 provides a lateral degree of freedom of motion to the front portion Inearer to the linear vibration generator 4 than the vertical pivot shaft42, without the needs for the whole length of the intermediate portionII to participate in lateral movement, about the vertical pivot shaft42, although this option remains open.

[0072] The embodiment 200 is preferred and regarded as the best mode ofimplementation. The two separate vertical pivots 42 and 46 form,correspondingly, a primary pivot closer to the linear vibrationgenerator 4, and a secondary pivot closer to the vehicle, for lateralmotion isolation. Such a separation over two vertical pivots 42 and 46is also a two-stage filter for the isolation of vibrations from reachingthe vehicle and the driver.

[0073] Operation of the embodiment 200 is the same as for embodiment100.

[0074] In this last embodiment 200 the same method for unidirectionalorderly lateral shaking, lateral motion constraint and pivotal couplingto the structure IV as previously described is also implemented for astand-alone vehicle-mounted TTS and for tree fruit harvesting systems.

[0075] It will be appreciated by persons skilled in the art, that thepresent invention is not limited to what has been particularly shown anddescribed hereinabove. Rather, the scope of the present invention isdefined by the appended claims and includes both combinations andsub-combinations of the various features described hereinabove as wellas variations and modifications thereof which would occur to personsskilled in the art upon reading the foregoing description. For example,more than two vertical pivots may provide lateral freedom of motion.Moreover, the vertical motion of the boom 16 must not necessarily becommanded by the chains 24, but power jacks may replace them.

[0076] Industrial Applicability

[0077] The present invention is applicable in agriculture for theharvesting of tree-fruit.

1. A method for constraining and coupling a TTS (Tree-Trunk Shaker) to a vehicle, the TTS comprising: tree-trunk jaws (2) clamping the trunk perpendicularly, and a linear vibration generator (4) coupled to the tree-trunk jaws for shaking the trunk, the method being characterized by comprising the steps of: configuring the TTS to shake the trunk laterally in perpendicular to both the trunk and to the tree-trunk jaws, and constraining the TTS to shake the trunk in one single lateral degree of freedom of motion in operative association with at least one vertical pivot (42) coupling the TTS to the vehicle.
 2. The method, according to claim 1, wherein, the tree-trunk jaws (2) are clamping diametrically opposite sides of the trunk.
 3. The method, according to claim 1 or 2, wherein, the linear vibration generator (4) is configured as an integral part of the tree-trunk jaws (2) to form a rigid front portion (I).
 4. The method, according to any one of the claims 1 to 3, wherein the TTS further comprises a linking portion (II), rigid and in longitudinal coextension with the tree-trunk jaws (2), the linking portion comprising a front end (18F) and rear end (18R), front and rear being defined as, respectively, the side nearer the trunk and the side nearer the vehicle, the front end being rigidly coupled to the front portion, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly coupled to the vehicle, the method being further characterized by comprising the step of: constraining the linking portion pivotally to the coupling portion by at least one vertical pivot (42) defining a single lateral pivotal degree of freedom of motion in perpendicular to the trunk and to the tree-trunk jaws.
 5. A method for constraining and coupling a TTS (Tree-Trunk Shaker) to a vehicle, the TTS comprising: tree-trunk jaws (2) clamping a trunk perpendicularly on diametrically opposite sides, a linear vibration generator (4) for shaking the trunk and integrated with one tree-trunk jaw into a rigid front portion (I), a linking portion (II) in longitudinal coextension with the tree-trunk jaws, the linking portion comprising a front end (18F) and rear end (18R) rigidly coupled to the front portion, front and rear being defined as, respectively, the side nearer the trunk and the side nearer the vehicle, the front end being rigidly coupled to the front portion, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly attached to the vehicle via a structure portion (IV), the method being characterized by the steps of: configuring the TTS for shaking the trunk laterally in perpendicular to the trunk and to the tree-trunk jaws, so as to transmit lateral vibrations to the trunk and to the linking portion, and constraining the coupling portion to the linking portion by at least one vertical pivot (42) for associative operation when shaking the trunk, the vertical pivot coupling defining a single lateral pivotal degree of freedom of motion, thereby providing maximal vibration energy to the trunk by coupling the TTS to the vehicle via the structure (IV).
 6. The method, according to claim 5, further characterized in that: the at least one vertical pivot (42) isolates the vehicle from vibrations generated by the linear vibration generator (4).
 7. The method, according to any one of the claim 1 to 3, wherein the TTS further comprises: a linking portion (II), rigid and in longitudinal coextension with the tree-trunk jaws (2), the linking portion comprising a front end (18F) and rear end (18R), front and rear being defined as, respectively, the side nearer the and the side nearer the vehicle, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rearend of the linking portion and the rear attachment being fixedly attached to the vehicle, the method being further characterized by comprising the steps of: coupling the front portion (I) to the front end of the linking portion by a first vertical pivot coupling (42), and coupling the rear end of the linking portion to the front attachment of the coupling portion by a second vertical pivot (46) coupling, thereby constraining the TTS to a single lateral degree of freedom of motion about a first and a second vertical pivot.
 8. A method for constraining and coupling a TTS (Tree-Trunk Shaker), to a vehicle, the TTS comprising: tree-trunk jaws (2) clamping a trunk perpendicularly on diametrically opposite sides, a linear vibration generator (4) for shaking the trunk and integrated with at least one tree-trunk jaw into a rigid front portion (I), a linking portion (II), rigid and in longitudinal coextension with the tree-trunk jaws, the linking portion comprising a front end (18F) and rear end (18R), front and rear being defined as, respectively, the side nearer the trunk and the side nearer the vehicle, a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly coupled to the vehicle via a structure portion (IV), and defining a lateral direction as being orthogonal to the trunk and to the tree-trunk jaws, the method being characterized by the steps of: configuring the TTS for shaking the trunk laterally so as to transmit vibrations laterally and in perpendicular to the linking portion, and constraining the front portion by a first vertical pivotal coupling (42) to the front end of the linking portion, constraining the rear end of the linking portion by a second vertical pivotal coupling (46) to the front end of the coupling portion, to define a single degree of lateral freedom of motion about two vertical pivots, thereby providing maximal vibration energy to the trunk by coupling the TTS to the vehicle via the structure (IV).
 9. The method, according to claim 8, further characterized by isolating the vehicle from vibrations generated by the linear vibration generator (4) by operative association with the first vertical pivot (42) and the second vertical pivot (46).
 10. A TTS (Tree-Trunk Shaker) coupled to a vehicle and comprising: tree-trunk jaws (2) clamping the trunk perpendicularly, and a linear vibration generator (4) coupled to the tree-trunk jaws for shaking the trunk, the TTS characterized by being: configured to shake the trunk laterally in perpendicular to both the trunk and to the-tree-trunk jaws, and constrained to shake in one single lateral degree of freedom of motion in operative association with at least one vertical pivot (42) coupling the TTS to the vehicle.
 11. The TTS according to claim 10, wherein the tree-trunk jaws (2) are clamping diametrically opposite sides of the trunk.
 12. The TTS according to claim 10 or 11, wherein the linear vibration generator (4) is configured as an integral part of the tree-trunk jaws (2) to form a rigid front portion (I).
 13. The TTS according to any one of the claims 10 to 12, further comprising: a linking portion (II), rigid and in longitudinal coextension with the tree-trunk jaws (2), the linking portion comprising a front end (18F) and rear end (18R), front and rear being defined as, respectively, the side nearer the tree-trunk and the side nearer the vehicle, the front end being rigidly coupled to the front portion, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly coupled to the vehicle, the TTS being further characterized by comprising: at least one vertical pivot (42) defining a single lateral pivotal degree of freedom of motion in perpendicular to the trunk and to the tree-trunk jaws, the vertical pivot constraining the linking portion pivotally to the coupling portion.
 14. A TTS (Tree-Trunk Shaker) coupled to a vehicle and comprising: tree-trunk jaws (2) clamping a trunk perpendicularly on diametrically opposite sides, a linear vibration generator (4) integrated with at least one tree-trunk jaw into a rigid front portion (1), a linking portion (II) in longitudinal coextension with the tree-trunk jaws, the linking portion comprising a front end (18F) and rear end (18R) rigidly coupled to the front portion, front and rear being defined as, respectively, the side nearer the tree-trunk and the side nearer the vehicle, the front end being rigidly coupled to the front portion, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly attached to the vehicle via a structure portion (IV), the TTS being characterized by: the linear vibration generator being configured for shaking the trunk laterally in perpendicular to the trunk and to the tree-trunk jaws, so as to transmit lateral vibrations to the trunk and to the linking portion, and the coupling portion being constrained to the linking portion by at least one vertical pivot (42) for associative operation when shaking the trunk, the vertical pivot coupling defining a single lateral pivotal degree of freedom of motion, thereby providing maximal vibration energy to the trunk by coupling the TTS to the vehicle via the structure (IV).
 15. The TTS according to claim 14, further characterized in that: the at least one vertical pivot (42) isolates the vehicle from vibrations generated by the linear vibration generator (4).
 16. The TTS according to any one of the claims 10 to 12, wherein the TTS further comprises: a linking portion, rigid and in longitudinal coextension with the tree-trunk jaws (2), the linking portion comprising a front end (18F) and rear end (18R), front and rear being defined as, respectively, the side nearer the tree-trunk and the side nearer the vehicle, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly attached to the vehicle, the TTS being further characterized in that: the front portion (I) being coupled to the front end of the linking portion by a first vertical pivot coupling (42), and the rear end of the linking portion being coupled to the front attachment of the coupling portion by a second vertical pivot coupling (46), thereby constraining the TTS to a single lateral degree of freedom of motion about a first and a second vertical pivot.
 17. A TTS (Tree-Trunk Shaker) coupled to a vehicle and comprising: tree-trunk jaws (2) clamping a trunk perpendicularly on diametrically opposite sides, a linear vibration generator (4) integrated with at least one tree-trunk jaw into a rigid front portion (I), a linking portion (II), rigid and in longitudinal coextension with the tree-trunk jaws, the linking portion comprising a front end (18F) and rear end (18R), front and rear defined as, respectively, the side nearer the trunk and the side nearer the vehicle, a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly coupled to the vehicle via a structure portion (IV), and a lateral direction defined as being orthogonal to the trunk and to the tree-trunk jaws, the TTS characterized by being: configured for shaking the trunk laterally so as to transmit the vibrations laterally and in perpendicular to the linking portion, constrained by a first vertical pivotal coupling (42) to the front portion and to the front end of the linking portion, and constrained by a second vertical pivotal coupling (46) to the rear end of the linking portion and to the front end of the coupling portion, to define a single degree of lateral freedom of motion about two vertical pivots, thereby providing maximal vibration energy to the trunk by coupling the TTS to the vehicle via the structure (IV).
 18. The TTS according to claim 17, further characterized in that: the first vertical pivot (42) and the second vertical pivot (46) isolate the vehicle from vibrations generated by the linear vibration generator (4).
 19. A system for tee-fruit harvesting comprising a TTS (Tree-Trunk Shaker) coupled to a vehicle to harvest tree-fruit, the system comprising: tree-trunk jaws (2) clamping the trunk perpendicularly, and a linear vibration generator (4) coupled to the tree-trunk jaws and to the vehicle, the system being characterized by: the TTS being configured to shake the trunk laterally in perpendicular to both the trunk and to the tree-trunk clamps, and the TTS being constrained to shake in one single lateral degree of freedom of motion in operative association with one vertical pivot (42) coupling the TTS to the vehicle.
 20. The system according to claim 19, wherein the tree-trunk jaws (2) are clamping diametrically opposite sides of the trunk.
 21. The system according to claim 19 or 20, wherein the linear vibration generator (4) is configured as an integral part of the at least one tree-trunk jaw to form a rigid front portion (I).
 22. The system according to any one of the claims 19 to 21, further comprising: a linking portion (II), rigid and in longitudinal coextension with the tree-trunk jaws (2), the linking portion comprising a rear front end (18F) and rear end (18R), front and rear being defined as, respectively, the side nearer the tree-trunk and the side nearer the vehicle, the front end being rigidly coupled to the front portion, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly coupled to the vehicle, the system being further characterized by comprising: at least one vertical pivot (42) defining a single lateral pivotal degree of freedom of motion in perpendicular to the trunk and to the tree-trunk clamps, the vertical pivot constraining the linking portion pivotally to the coupling portion.
 23. A system for tee-fruit harvesting comprising a TTS (Tree-Trunk Shaker) coupled to a vehicle, to harvest tree-fruit, the system comprising: tree-trunk jaws (2) clamping a trunk perpendicularly on diametrically opposite sides, a linear vibration generator (4) integrated with at least one tree-trunk jaw into a rigid front portion (1), a linking portion (II) in longitudinal coextension with the tree-trunk jaws, the linking portion comprising a front end (18F) and rear end (18R) rigidly coupled to the front portion, front and rear being defined as, respectively, the side nearer the trunk and the side nearer the vehicle, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly attached to the vehicle via a structure portion (IV), the system being characterized by: the linear vibration generator being configured for shaking the trunk laterally in perpendicular to the trunk and to the tree-trunk jaws, so as to transmit lateral vibrations to the tree-trunk and to the linking portion, and the coupling portion being constrained to the linking portion by a vertical pivot (42) for associative operation when shaking the trunk, the vertical pivot coupling defining a single lateral pivotal degree of freedom of motion, thereby providing maximal vibration energy to the trunk by coupling the TTS to the vehicle via the structure (IV).
 24. The system according to claim 23, further characterized in that: the at least one vertical pivot (42) isolates the vehicle from vibrations generated by the linear vibration generator (4).
 25. The system according to any one of the claims 19 to 21, wherein the TTS further comprises: a linking portion, rigid and in longitudinal coextension with the tree-trunk jaws (2), the linking portion comprising a front end (18F) and rear end (18R), front and rear being defined as, respectively, the side nearer the tree-trunk and the side nearer the vehicle, and a coupling portion (III) comprising a front attachment (36F) and a rear attachment.(36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly attached to the vehicle, the system being further characterized in that: the front portion (I) is coupled to the front end of the linking portion by a first vertical pivot coupling (42), and the rear end of the linking portion is coupled to the front attachment of the coupling portion by a second vertical pivot coupling (46), thereby constraining the TTS to a single lateral degree of freedom of motion about a first and a second vertical pivot.
 26. A system for tee-fruit harvesting comprising a TTS (Tree-Trunk Shaker) coupled to a vehicle, to harvest tree-fruit, the system comprising: tree-trunk jaws (2) clamping a trunk perpendicularly on diametrically opposite sides, a linear vibration generator (4) integrated with at least one tree-trunk jaw into a rigid front portion (I), a linking portion (II), rigid and in longitudinal coextension with the tree-trunk jaws, the linking portion comprising a front end (18F) and rear end (18R), front and rear defined as, respectively, the side nearer the trunk and the side nearer the vehicle, a coupling portion (III) comprising a front attachment (36F) and a rear attachment (36R), the front attachment being coupled to the rear end of the linking portion and the rear attachment being fixedly coupled to the vehicle via a structure portion (IV), and a lateral direction defined as being orthogonal to the trunk and to the tree-trunk jaws, the system characterized by being: configured for shaking the trunk laterally so as to transmit the vibrations laterally and in perpendicular to the linking portion, constrained to the front portion by a first vertical pivotal coupling (42) at the front end of the linking portion, and constrained to the rear end of the linking portion by a second vertical pivotal coupling (46) to the front end of the coupling portion, to define a single degree of lateral freedom of motion about two vertical pivots, thereby providing maximal vibration energy to the trunk by coupling the TTS to the vehicle via the structure (IV).
 27. The system according to claim 25, further characterized in that: the first vertical pivot (42) and the second vertical pivot (46) isolate the vehicle from vibrations generated by the linear vibration generator (4). 